Humanoid robot

Abstract

The invention is applicable to the technical field of robots, and provides a humanoid robot which comprises a thoracolumbar assembly, a first connecting plate and a second connecting plate, the head assembly is arranged on the first connecting plate; the number of the lower limb assemblies is two, the two lower limb assemblies are both arranged on the second connecting plate, the lower limb assemblies and the second connecting plate are connected through hip joint assemblies, and each hip joint assembly comprises a plurality of first diaphragm type clamping air cylinders which are arranged at intervals in the circumferential direction; one end of the first diaphragm type clamping air cylinder is connected with the second connecting plate, and the other end of the first diaphragm type clamping air cylinder is connected with the lower limb assembly. Through cooperation of the multiple first diaphragm type clamping air cylinders, the lower limb assembly can be driven to swing by a certain angle relative to the waist and chest assembly, in this way, the freedom degree of the lower limbs of the robot can be increased, and the flexibility of the robot is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a humanoid robot. Background Art

[0002] As a branch of robots, bionic robots are similar in appearance to humans. They are very attractive and easily accepted by people in international exhibitions, shopping mall services, and reception. Therefore, major companies and research institutions have begun to study humanoid robots.

[0003] In existing humanoid robots, the lower limbs and the waist are usually fixedly connected or rotatably connected via a pivot. However, this existing connection method will result in insufficient degrees of freedom of the robot's lower limbs and insufficient flexibility in the robot's movements. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a humanoid robot, aiming to solve the problem that the robot's lower limbs have insufficient degrees of freedom and the robot's movements are not flexible enough.

[0005] The embodiment of the present application is implemented as follows: a humanoid robot, comprising:

[0006] A thoracolumbar component, the thoracolumbar component comprising a first connecting plate and a second connecting plate located at two ends;

[0007] A head assembly, arranged on the first connecting plate;

[0008] A lower limb assembly, wherein two lower limb assemblies are provided, and both lower limb assemblies are arranged on the second connecting plate. The lower limb assembly and the second connecting plate are connected through a hip joint assembly, and the hip joint assembly includes a plurality of first diaphragm clamping cylinders arranged at circumferential intervals, and one end of the first diaphragm clamping cylinder is connected to the second connecting plate, and the other end is connected to the lower limb assembly.

[0009] In some preferred embodiments of the present application, a neck assembly is further provided between the head assembly and the thoracolumbar assembly, one end of the neck assembly is fixedly connected to the first connecting plate, and the other end is connected to the head assembly, the neck assembly includes a plurality of first vertebrae, two adjacent first vertebrae are connected by a neck joint, and the neck joint includes a plurality of second diaphragm clamping cylinders arranged circumferentially.

[0010] In some preferred embodiments of the present application, the head component includes a third connecting plate fixedly mounted on the neck component, two sets of visual devices are symmetrically arranged on the third connecting plate, the visual device includes a first control motor fixedly mounted on the third connecting plate, a first rotating frame is fixedly mounted on the rotating shaft of the first control motor, a second control motor is fixedly mounted on the first rotating frame, a second control motor is fixedly mounted on the rotating shaft of the second control motor is fixedly connected to the second rotating frame, the rotating shaft of the first control motor is arranged vertically to the rotating shaft of the second control motor, and an image acquisition device is arranged on the first rotating frame.

[0011] In some preferred embodiments of the present application, the thoracolumbar assembly includes a spinal column assembly, a rib member, and a pneumatic artificial muscle group, the spinal column assembly includes a plurality of second vertebrae, two adjacent second vertebrae are connected by a ball head, the rib member is fixed to the second vertebrae, and the pneumatic artificial muscle group is used to drive the rib member to move and thereby drive the spinal column assembly to bend.

[0012] In some preferred embodiments of the present application, the spinal component is provided with a second connecting plate, a first support plate, a second support plate, a first rib, a third support plate, a second rib, a third rib, a fourth support plate and a first connecting plate in sequence from bottom to top, and the pneumatic artificial muscle group includes a quadratus lumborum muscle group arranged between the first connecting plate and the first rib, a first internal oblique muscle group arranged between the first support plate and the first rib, a second internal oblique muscle group arranged between the second support plate and the second rib, a third internal oblique muscle group arranged between the third support plate and the third rib, a first sternofrontal costal muscle group arranged between the first rib and the fourth support plate, and a second sternofrontal costal muscle group arranged between the second rib and the first connecting plate.

[0013] In some preferred embodiments of the present application, the quadratus lumborum muscle group, the first internal oblique abdominal muscle group, the second internal oblique abdominal muscle group, and the third internal oblique abdominal muscle group include at least four pneumatic artificial muscles.

[0014] In some preferred embodiments of the present application, the lower limb assembly includes a thigh member, a calf member, a foot member and a driving assembly, one end of the thigh member is connected to the second connecting plate through the hip joint assembly, and the other end is rotatably connected to one end of the calf member, and the other end of the calf member is rotatably connected to the foot member, and the driving assembly is used to drive the foot member to rotate relative to the calf member, and drive the calf member to rotate relative to the thigh member.

[0015] In some preferred embodiments of the present application, the drive assembly comprises:

[0016] A plurality of first hoisting devices fixedly mounted on the calf member, the free ends of the ropes of the first hoisting devices being connected to the foot plate, the plurality of first hoisting devices cooperating to pull the foot plate to control the rotation of the foot plate relative to the calf member;

[0017] A plurality of second hoisting devices are fixedly mounted on the thigh member, the free ends of the ropes of the second hoisting devices are connected to the foot plate, and the plurality of second hoisting devices cooperate to pull the foot plate to drive the foot plate and the calf member to rotate relative to the thigh member.

[0018] In some preferred embodiments of the present application, the foot plate is connected to the calf member through a universal joint, four first hoisting devices are provided, and the free ends of the ropes of the four hoisting devices are respectively fixed to the foot plate through four connecting members, and the four connecting members are arranged around the universal joint.

[0019] In some preferred embodiments of the present application, three first diaphragm clamping cylinders are arranged at circumferential intervals.

[0020] A humanoid robot provided in an embodiment of the present application has a lower limb assembly and a thoraco-lumbar assembly connected by a plurality of first diaphragm-type clamping cylinders. Through the cooperation of the plurality of first diaphragm-type clamping cylinders, the lower limb assembly can be driven to swing at a certain angle relative to the waist-lumbar assembly, thereby increasing the degree of freedom of the robot's lower limbs and improving the flexibility of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A three-dimensional structural diagram of a humanoid robot provided in an embodiment of the present application;

[0022] Figure 2 for Figure 1 A schematic structural diagram of a lower limb assembly in an embodiment;

[0023] Figure 3 for Figure 1 A schematic diagram of the structure of the head component and the neck component in the embodiment;

[0024] Figure 4 for Figure 1 A schematic structural diagram of the thoracolumbar component in the embodiment;

[0025] Figure 5 for Figure 1 Another perspective structural diagram of the thoracolumbar assembly in the embodiment;

[0026] Figure 6 for Figure 1 Another structural schematic diagram of the lower limb assembly in the embodiment;

[0027] Figure 7 for Figure 6A partial view of A in the embodiment;

[0028] Figure 8 for Figure 6 A partial view of point B in the embodiment;

[0029] Fig. 9 for Figure 6 A partial view of point C in the embodiment.

[0030] in:

[0031] 110, head assembly; 111, first control motor; 112, first rotating frame; 113, second control motor; 114, second rotating frame; 115, image acquisition device; 116, third connecting plate; 120, neck assembly; 121, first vertebra; 122, second diaphragm clamping cylinder;

[0032] 200, thoracolumbar assembly; 211, first connecting plate; 212, second connecting plate; 221, first rib; 222, second rib; 223, third rib; 231, first support plate; 232, second support plate; 233, third support plate; 234, fourth support plate; 241, quadratus lumborum muscle group; 242, first internal oblique muscle group; 243, second internal oblique muscle group; 244, third internal oblique muscle group; 245, first thoracic frontal costal muscle group; 246, second thoracic frontal costal muscle group; 250, second vertebra;

[0033] 300, lower limb assembly; 310, thigh member; 311, third guide wheel; 320, calf member; 321, fourth guide wheel; 330, foot plate; 331, universal joint; 332, connecting member; 340, knee joint plate; 350, first hoisting device; 351, first motor; 352, first drive wheel; 353, first guide wheel; 360, second hoisting device; 361, second motor; 362, second drive wheel; 363, second guide wheel; 370, third hoisting device; 380, first diaphragm clamping cylinder. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] The specific implementation of the present application is described in detail below in conjunction with specific embodiments.

[0036] like Figure 1 , which is a schematic diagram of the structure of a humanoid robot provided in an embodiment of the present application, including: a thoracolumbar component 200, a head component 110 and a lower limb component 300.

[0037] like Figure 1 and Figure 2 As shown, the thoracolumbar component 200 includes a first connecting plate 211 and a second connecting plate 212 located at both ends. The head component 110 is arranged on the first connecting plate 211. The lower limb component 300 is provided with two lower limb components 300, and the two lower limb components 300 are both arranged on the second connecting plate 212. The lower limb component 300 and the second connecting plate 212 are connected through a hip joint component, and the hip joint component includes a plurality of first diaphragm clamping cylinders 380 arranged at intervals in the circumferential direction, and one end of the first diaphragm clamping cylinder 380 is connected to the second connecting plate 212, and the other end is connected to the lower limb component 300.

[0038] In this embodiment, the robot's lower limb assembly 300 and the thoraco-lumbar assembly 200 are connected by a plurality of first diaphragm-type clamping cylinders 380. Through the cooperation of the plurality of first diaphragm-type clamping cylinders 380, the lower limb assembly 300 can be driven to swing at a certain angle relative to the thoraco-lumbar assembly. In this way, the degree of freedom of the robot's lower limbs can be increased and the flexibility of the robot can be improved.

[0039] Specifically, three first diaphragm clamping cylinders 380 are arranged at circumferential intervals, and the deformation of the diaphragm is changed to control the stroke of the first diaphragm clamping cylinders 380 by adjusting the intake pressure of the three first diaphragm clamping cylinders 380, thereby adjusting the swing angle and direction of the lower limb assembly 300. The diaphragm clamping cylinder is an existing mature technology, and its specific structure is not repeated here.

[0040] like Figure 3 As shown, in some embodiments of the present application, a neck assembly 120 is further arranged between the head assembly 110 and the thoracolumbar assembly 200, one end of the neck assembly 120 is fixedly connected to the first connecting plate 211, and the other end is connected to the head assembly 110, the neck assembly 120 includes a plurality of first vertebrae 121, two adjacent first vertebrae 121 are connected by a neck joint, and the neck joint includes a plurality of second diaphragm clamping cylinders 122 arranged circumferentially.

[0041] In this embodiment, the first vertebra 121 can be driven to swing by a plurality of second diaphragm clamping cylinders 122. Furthermore, by means of the neck joint and the first vertebra 121 arranged at intervals, the neck joint drives the first vertebra 121 to swing, so that the entire neck assembly 120 can be bent in a complex posture, making the robot more flexible. Specifically, in some embodiments of the present application, three second diaphragm clamping cylinders 122 are arranged at circumferential intervals, so that the need for the first vertebra 121 to swing in space can be met, and the practical use of the second diaphragm clamping cylinder 122 can be reduced, thereby controlling costs.

[0042] like Figure 3 As shown, in some embodiments of the present application, the head component 110 includes a third connecting plate 116 fixedly mounted on the neck component 120, and two sets of visual devices are symmetrically arranged on the third connecting plate 116, and the visual device includes a first control motor 111 fixedly mounted on the third connecting plate 116, and a first rotating frame 112 is fixedly mounted on the rotating shaft of the first control motor 111, and a second control motor 113 is fixedly mounted on the first rotating frame 112, and a second control motor 113 is fixedly mounted on the rotating shaft of the second control motor 113, and a second rotating frame 114 is fixedly connected to the rotating shaft of the first control motor 111 and the rotating shaft of the second control motor 113 are arranged vertically, and an image acquisition device 115 is arranged on the first rotating frame 112.

[0043] In this embodiment, the first control motor 111 drives the first rotating frame 112 to rotate, and the second control motor 113 drives the second rotating frame 114 to rotate, so that the shooting angle of the image acquisition device 115 can be adjusted.

[0044] In some embodiments of the present application, Figure 3 As shown, the rotation axis of the first control motor 111 is vertically arranged, and the first control motor 111 can drive the first rotating frame 112 to rotate left and right. The rotation axis of the second control motor 113 is horizontally arranged, and the second control motor 113 can drive the second rotating frame 114 to rotate up and down. In this way, the image acquisition device 115 can be swung up and down, left and right, to adjust the angle of the image acquisition device 115. In some embodiments of the present application, the image acquisition device 115 is a camera or other camera device.

[0045] like Figure 4 and Figure 5 As shown, in some embodiments of the present application, the thoracolumbar assembly 200 includes a spinal column assembly, a rib member, and a pneumatic artificial muscle group, the spinal column assembly includes a plurality of second vertebrae 250, two adjacent second vertebrae 250 are connected by a ball head, the rib member is fixedly disposed on the second vertebrae 250, and the pneumatic artificial muscle group is used to drive the rib member to move and thereby drive the spinal column assembly to bend.

[0046] In this embodiment, the pneumatic artificial muscle group acts on the ribs, and the ribs drive the spine assembly to bend, so that the spine assembly of the robot can imitate the spine movement of the human body, thereby improving the flexibility of the robot. In addition, the structure of the thoracolumbar part of the robot is supported by a spine assembly that imitates the human spine, and multiple second vertebrae 250 are connected by ball heads, so that the formed spine assembly can perform complex bending, thereby improving the flexibility of the robot. Specifically, one of the two adjacent second vertebrae 250 is provided with a ball head, and the other is provided with a ball socket, and the connection of the two adjacent second vertebrae 250 is achieved by the cooperation of the ball head and the ball socket.

[0047] It should be noted that pneumatic artificial muscle is an existing mature technology. Specifically, pneumatic artificial muscle is a bionic product that is small, soft, light, simple to work and easy to control. It is driven by compressed air to push and pull, and the process is like the muscle movement of the human body. Pneumatic muscle mainly consists of three structures: elastic tube, woven net, and metal clamp. The elastic tube will deform when inflated, and the woven net constrains the elastic tube, converting the radial expansion of the elastic tube into axial contraction, thereby forming a linear drive effect.

[0048] like Figure 4 and Figure 5 As shown, in some embodiments of the present application, the spinal column assembly is provided with a second connecting plate 212, a first support plate 231, a second support plate 232, a first rib 221, a third support plate 233, a second rib 222, a third rib 223, a fourth support plate 234 and a first connecting plate 211 in sequence from bottom to top, and the pneumatic artificial muscle group includes a quadratus lumborum muscle group 241 arranged between the first connecting plate 211 and the first rib 221, a first internal oblique muscle group 242 arranged between the first support plate 231 and the first rib 221, a second internal oblique muscle group 243 arranged between the second support plate 232 and the second rib 222, a third internal oblique muscle group 244 arranged between the third support plate 233 and the third rib 223, a first sternofrontal costal muscle group 245 arranged between the first rib 221 and the fourth support plate 234, and a second sternofrontal costal muscle group 246 arranged between the second rib 222 and the first connecting plate 211.

[0049] In this embodiment, the spinal column structure below the first rib 221 is supported and controlled for bending by the quadratus lumborum muscle group 241 and the first internal oblique muscle group 242, the spinal column structure between the first rib 221 and the second rib 222 is controlled for bending forward and backward by the second internal oblique muscle group 243, the spinal column structure between the second rib 222 and the third rib 223 is controlled for bending forward and backward by the third internal oblique muscle group 244, the spinal column structure between the first rib 221 and the fourth support plate 234 is controlled for bending left and right by the first sternocostal muscle group 245, and the first connecting plate 211 is driven to adjust its posture by the second sternocostal muscle group 246. In this way, the spinal column assembly is controlled in sections by each pneumatic artificial muscle group, so that the flexibility of the spinal column assembly can be improved.

[0050] In some embodiments of the present application, the quadratus lumborum muscle group 241, the first internal oblique abdominal muscle group 242, the second internal oblique abdominal muscle group 243, and the third internal oblique abdominal muscle group 244 include at least four pneumatic artificial muscles. In this embodiment, multiple pneumatic artificial muscles are used for driving to achieve redundant pneumatic muscle driving, so that the robot has a large variable stiffness adjustment range, high safety, and strong load capacity.

[0051] In some embodiments of the present application, Figure 6 As shown, the lower limb assembly 300 includes a thigh member 310, a calf member 320, a foot member 330 and a driving assembly. One end of the thigh member 310 is connected to the second connecting plate 212 through the hip joint assembly, and the other end of the calf member 320 is rotatably connected, and the other end of the calf member 320 is rotatably connected to the foot member 330. The driving assembly is used to drive the foot member 330 to rotate relative to the calf member 320, and drive the calf member 320 to rotate relative to the thigh member 310.

[0052] In this embodiment, the driving assembly drives the foot plate 330 to rotate relative to the shank member 320, and drives the shank member 320 to rotate relative to the thigh member 310. In this way, the rotation of the robot's knee joint and ankle joint can be achieved, thereby achieving the movement of the robot's lower limbs.

[0053] In some embodiments of the present application, Figures 6 to 9 As shown, the driving assembly includes a plurality of first hoisting devices 350 and a plurality of second hoisting devices 360 .

[0054] A plurality of first hoisting devices 350 are fixedly mounted on the calf member 320, and the free ends of the ropes of the first hoisting devices 350 are connected to the foot plate 330. The plurality of first hoisting devices 350 cooperate to pull the foot plate 330 to control the rotation of the foot plate 330 relative to the calf member 320. In this embodiment, the ropes of the plurality of first hoisting devices 350 are respectively connected to the foot plate 330 and are distributed at the front and rear sides of the rotation axis of the foot plate 330. By pulling the foot plate 330 with the plurality of first hoisting devices 350, the foot plate 330 can be kept stable or rotated. Figure 8 As shown, the first hoisting device 350 includes a first motor 351 fixedly arranged on the shank member 320, the output end of the first motor 351 is coaxially fixedly connected to a first driving wheel 352, one end of the rope is wound around the first driving wheel 352, and the other end is connected to the foot plate 330. The shank member 320 is also rotatably provided with a first guide wheel 353, the rope is overlapped on the first guide wheel 353, and the rope is guided by the first guide wheel 353.

[0055] like Figure 6 and Figure 7As shown, a plurality of second hoisting devices 360 are fixed on the thigh member 310, and the free end of the rope of the second hoisting device 360 ​​is connected to the foot plate 330. The plurality of second hoisting devices 360 cooperate to pull the foot plate 330 to drive the foot plate 330 and the calf member 320 to rotate around the thigh member 310. In this embodiment, the plurality of first hoisting devices 350 maintain the stability between the foot plate 330 and the calf member 320, and the plurality of second hoisting devices 360 pull the foot plate 330 and the calf member 320 to rotate relative to the thigh member 310, thereby realizing the rotation of the robot knee joint. Figure 7 As shown, the second hoisting device 360 ​​includes a second motor 361 fixedly disposed on the thigh member 310, the output end of the second motor 361 is coaxially fixedly connected to a second driving wheel 362, one end of the rope is wound around the second driving wheel 362, and the other end is connected to the foot plate 330. A second guide wheel 363 is also rotatably disposed on the thigh member 310, the rope is overlapped on the second guide wheel 363, and the rope is guided by the second guide wheel 363.

[0056] In this embodiment, the first hoisting device 350 and the second hoisting device 360 ​​drive the movement of the lower limbs of the rope-driven robot, which has high flexibility and can absorb impact.

[0057] In one example of the present application, Figures 6 to 9 As shown, the foot plate 330 is connected to the calf member 320 via a universal joint 331 , and four first hoisting devices 350 are provided, and the free ends of the ropes of the four hoisting devices are respectively fixed to the foot plate 330 via four connecting members 332 , and the four connecting members 332 are arranged around the universal joint 331 .

[0058] In this embodiment, the foot plate 330 is connected to the calf member 320 via a universal joint 331, and the foot plate 330 can swing forward, backward, left, and right relative to the calf member 320, making the foot plate 330 of the robot more flexible. The four first hoisting devices 350 are arranged symmetrically left and right, and the foot plate 330 can be driven to swing left and right by the left and right groups of the first hoisting devices 350. Dividing the four first hoisting devices 350 into two groups can drive the foot plate 330 to swing forward and backward. Of course, the driving method of the four first hoisting devices 350 is not limited to this. By controlling the winding amount of each first hoisting device separately, the foot plate 330 can achieve more complex spatial rotation.

[0059] In such Figure 8As shown, in some embodiments of the present application, the thigh member 310 is further provided with a third guide wheel near the end of the calf member 320, and the calf member 320 is further provided with a fourth guide wheel 321 near the end of the thigh member 310. The third guide wheel 311 and the fourth guide wheel 321 are used to guide the rope of the second hoisting device 360 ​​so that the rope of the fourth guide wheel 321 remains stable.

[0060] like Figure 6 In some embodiments of the present application, a third hoisting device 370 is further provided on the thigh member 310, and the structure of the third hoisting device 370 is substantially the same as that of the first hoisting device 350. The free end of the rope of the third hoisting device 370 is connected to the foot plate 330, and the connection point is located in front of the universal joint 331. The third hoisting device 370 is provided on the left and right sides of the thigh member 310. In the embodiment of the present application, the third hoisting device 370 assists in driving the bending of the robot knee joint to improve the load capacity.

[0061] In the embodiments of the present application, Fig. 9 As shown, two connecting pieces 332 are provided in front of the universal joint 331, and two connecting pieces 332 are provided in the rear, and the four connecting pieces 332 are symmetrical. The ropes of the four first hoisting devices 350 are fixed to the foot plate 330 through the four connecting pieces 332, and the ropes of the four second hoisting devices 360 are also fixed to the foot plate 330 through the four connecting pieces 332. The two ropes of the third hoisting device 370 are fixed to the foot plate 330 through the two connecting pieces 332 in front of the universal joint 331. It should be noted that Fig. 9 For ease of illustration, only one rope is shown on a single connector 332.

[0062] like Figure 8 As shown, in some embodiments of the present application, the thigh member 310 and the shank member 320 are connected via a knee joint plate 340, the thigh member 310 is rotatably connected to one end of the knee joint plate 340, and the shank member 320 is rotatably connected to the other end of the knee joint plate 340. In this embodiment, the thigh member 310 and the shank member 320 are connected via the knee joint plate 340, so that the thigh member 310 and the shank member 320 have a larger movement space. Compared with a direct connection, the thigh member 310 and the shank member 320 of this embodiment are not easy to get stuck during movement.

[0063] The humanoid robot provided by the present application forms a hip joint through a plurality of first film cylinders, increases the freedom of movement of the lower limb assembly 300, and uses a winch device to drive the lower limb assembly 300 to move by rope traction, and uses redundant pneumatic artificial muscles to drive the spine assembly to move, thereby realizing flexible driving of the robot and improving the load capacity of the robot. In addition, the structure of the human spine and neck is simulated to obtain a spine assembly and a neck assembly, so that the robot can dynamically and vividly simulate human movements, thereby enhancing the flexibility of the robot.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A humanoid robot, characterized in that: include: A thoracolumbar component, the thoracolumbar component comprising a first connecting plate and a second connecting plate located at two ends thereof; A head assembly, provided on the first connecting plate; A lower limb assembly, wherein two lower limb assemblies are provided, and both lower limb assemblies are arranged on the second connecting plate. The lower limb assembly and the second connecting plate are connected through a hip joint assembly, and the hip joint assembly includes a plurality of first diaphragm clamping cylinders arranged at circumferential intervals, and one end of the first diaphragm clamping cylinder is connected to the second connecting plate, and the other end is connected to the lower limb assembly.

2. A humanoid robot according to claim 1, characterized in that: A neck assembly is also provided between the head assembly and the thoracolumbar assembly, one end of the neck assembly is fixedly connected to the first connecting plate, and the other end is connected to the head assembly, the neck assembly includes a plurality of first vertebrae, two adjacent first vertebrae are connected by a neck joint, and the neck joint includes a plurality of second diaphragm clamping cylinders arranged circumferentially.

3. A humanoid robot according to claim 2, characterized in that: The head component includes a third connecting plate fixedly mounted on the neck component, and two sets of visual devices are symmetrically arranged on the third connecting plate. The visual device includes a first control motor fixedly mounted on the third connecting plate, a first rotating frame is fixedly mounted on the rotating shaft of the first control motor, a second control motor is fixedly mounted on the first rotating frame, a second control motor is fixedly mounted on the rotating shaft of the second control motor, the rotating shaft of the first control motor is vertically arranged to the rotating shaft of the second control motor, and an image acquisition device is arranged on the first rotating frame.

4. A humanoid robot according to claim 3, characterized in that: The thoracolumbar component includes a spinal column component, a rib component and a pneumatic artificial muscle group. The spinal column component includes a plurality of second vertebrae, two adjacent second vertebrae are connected by a ball head, the rib component is fixedly arranged on the second vertebrae, and the pneumatic artificial muscle group is used to drive the rib component to move and thereby drive the spinal column component to bend.

5. A humanoid robot according to claim 4, characterized in that: The spinal column assembly is provided with a second connecting plate, a first supporting plate, a second supporting plate, a first rib, a third supporting plate, a second rib, a third rib, a fourth supporting plate and a first connecting plate in sequence from bottom to top; the pneumatic artificial muscle group includes a quadratus lumborum muscle group arranged between the first connecting plate and the first rib, a first internal oblique muscle group arranged between the first supporting plate and the first rib, a second internal oblique muscle group arranged between the second supporting plate and the second rib, a third internal oblique muscle group arranged between the third supporting plate and the third rib, a first sternofrontal costal muscle group arranged between the first rib and the fourth supporting plate, and a second sternofrontal costal muscle group arranged between the second rib and the first connecting plate.

6. The humanoid robot according to claim 5, characterized in that: The quadratus lumborum muscle group, the first internal oblique abdominal muscle group, the second internal oblique abdominal muscle group, and the third internal oblique abdominal muscle group include at least four pneumatic artificial muscles.

7. The humanoid robot according to claim 1, characterized in that: The lower limb assembly includes a thigh member, a calf member, a foot member and a driving assembly, wherein one end of the thigh member is connected to the second connecting plate via the hip joint assembly, and the other end is rotatably connected to one end of the calf member, and the other end of the calf member is rotatably connected to the foot member, and the driving assembly is used to drive the foot member to rotate relative to the calf member, and to drive the calf member to rotate relative to the thigh member.

8. The humanoid robot according to claim 3, characterized in that: The drive assembly comprises: A plurality of first hoisting devices fixedly mounted on the calf member, the free ends of the ropes of the first hoisting devices being connected to the foot plate, the plurality of first hoisting devices cooperating to pull the foot plate to control the rotation of the foot plate relative to the calf member; A plurality of second hoisting devices are fixedly mounted on the thigh member, the free ends of the ropes of the second hoisting devices are connected to the foot plate, and the plurality of second hoisting devices cooperate to pull the foot plate to drive the foot plate and the calf member to rotate relative to the thigh member.

9. The humanoid robot according to claim 8, characterized in that: The foot plate is connected to the calf member through a universal joint. Four first hoisting devices are provided. The free ends of the ropes of the four hoisting devices are respectively fixed to the foot plate through four connecting members. The four connecting members are arranged around the universal joint.

10. The humanoid robot according to claim 1, characterized in that: The first diaphragm type clamping cylinders are provided in three circumferentially spaced locations.

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